Multi-User Medical Robotic System for Collaboration or Training in Minimally Invasive Surgical Procedures

Abstract

A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

1 . A robot system, comprising:
 a robot that has a camera and a monitor;   a first remote station that has a monitor and is configured to access and control said robot, said first remote station having a first input device operated by a first user to cause movement of said robot;   a second remote station that has a monitor and is configured to access and control said robot, said second remote station having a second input device operated by a second user to cause movement of said robot; and,   an arbitrator that can operate in an exclusive mode to control access and control movement of said robot exclusively by said first remote station or second remote station, said arbitrator provides a mechanism that allows said first remote station to exclusively access and control movement of said robot, said mechanism denies exclusive access to said robot by said second remote station.   
     
     
         2 . A robot system, comprising:
 a first robot and a second robot that each have a camera that can generate an image, a monitor, a speaker and a microphone that can generate audio;   a first remote station that can access said first and second robots, said first remote station including a camera, a monitor that can receive said image from said first or second robots, a microphone and a speaker that can produce audio provided by said first or second robots;   a second remote station that can access said first and second robots, said second remote station including a camera, a monitor that can receives said image from said first and second robots, a microphone and a speaker that can produce audio provided by said first and second robots; and   a server coupled to said first and second robots and said first and second remote stations, said server allows exclusive access to said first robot by said first remote station such that said image and audio from said first robot is provided to said first remote station and said image and audio are not provided to said second remote station and even though said second remote station is prevented from accessing said first robot said server allows said second remote station to access said second robot.